Buyoun Cho
[Ver 1.0] The code was given by Seunghoon shin, used for hydraulic quadrupedal robot. Buyoun Cho will revise the code for Post-LIGHT (the robot name is not determined yet).
Diff: setting.h
- Revision:
- 72:3436ce769b1e
- Parent:
- 68:328e1be06f5d
- Child:
- 73:f80dc3970c99
--- a/setting.h Mon May 18 01:47:33 2020 +0000 +++ b/setting.h Tue May 19 01:36:27 2020 +0000 @@ -131,6 +131,9 @@ extern float P_GAIN_JOINT_TORQUE; extern float I_GAIN_JOINT_TORQUE; extern float D_GAIN_JOINT_TORQUE; +extern float P_GAIN_JOINT_TORQUE_FF; +extern float I_GAIN_JOINT_TORQUE_FF; +extern float D_GAIN_JOINT_TORQUE_FF; extern int16_t K_SPRING; extern int16_t D_DAMPER; @@ -418,15 +421,17 @@ extern float K_LPF; extern float D_LPF; +extern float torq_ref_past ; + //extern const int num_input ; //extern const int num_input_array; #define numpast_x 5 -#define numpast_f 5 +#define numpast_f 0 #define numfuture_f 10 -#define num_input 22 +#define num_input 17 //numpast_x + 1 + numpast_f + 1 + numfuture_f #define num_array_f_future 21 // numfuture_f * 2 + 1 -#define num_array_f_past 11 // numpast_f * 2 + 1 +#define num_array_f_past 1 // numpast_f * 2 + 1 #define num_array_x_past 11 // numpast_x * 2 + 1